CN108235256B - SLAM-based composite positioning method and device and storage medium - Google Patents
SLAM-based composite positioning method and device and storage medium Download PDFInfo
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Abstract
The invention provides a composite positioning method, a device and a storage medium based on SLAM, wherein the method comprises the following steps: sequentially acquiring the measured coordinates measured by the positioning module according to the time sequence; according to the synchronous positioning and mapping algorithm, measuring an SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates; wherein SLAM is a synchronous positioning and mapping algorithm; and correcting each measured coordinate according to each section of SLAM measured route to obtain a corrected motion track. The invention can correct the current positioning error to be within the error range of centimeter level and accurately record the complete motion track of the mobile equipment.
Description
Technical Field
The invention relates to the technical field of space positioning, in particular to a composite positioning method and device based on SLAM and a storage medium.
Background
Currently, the main positioning technologies used in mobile devices (e.g., smart phones) include WIFI positioning, base station positioning, and GPS positioning. These three current positioning techniques have their limitations. WIFI positioning has an error of about 30-200 meters and needs to be within a WIFI coverage range. The positioning of the base station has an error of about 100-500 meters. The GPS positioning can only be used outdoors, has an error of about 10-50 meters, and can generate the problems of positioning position jump and the like in practical use along with the movement of the earth and the satellite.
Meanwhile, the three positioning technologies have the above errors in the vertical direction (height), and cannot provide positioning data in the vertical direction. Meanwhile, a large error exists in the motion track of the mobile equipment.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a SLAM-based composite positioning method, device and storage medium, which are used to solve the problem in the prior art that large positioning errors exist in both horizontal and vertical directions during WIFI positioning, base station positioning or GPS positioning.
In order to achieve the purpose, the invention adopts the following technical scheme:
a composite positioning method based on SLAM, wherein the method comprises the following steps:
sequentially acquiring the measured coordinates measured by the positioning module according to the time sequence;
according to the synchronous positioning and mapping algorithm, measuring an SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates; wherein SLAM is a synchronous positioning and mapping algorithm;
and correcting each measured coordinate according to each section of SLAM measured route to obtain a corrected motion track.
In the step of sequentially acquiring the measurement coordinates measured by the positioning module in time sequence, the plurality of measurement coordinates sequentially acquired by the positioning module in time sequence are sequentially recorded as first measurement coordinates (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn) (ii) a Wherein the first measured coordinate (X)1，Y1) The corresponding measurement time is denoted as a first measurement time T1Second determination of coordinates (X)2，Y2) The corresponding measurement time is denoted as a second measurement time T2… …, n-th determination of coordinates (X)n，Yn) The corresponding measurement time is denoted as a first measurement time Tn(ii) a Wherein n is a positive integer.
The SLAM-based composite positioning method comprises the following steps of measuring an SLAM measuring route between a starting point time and an end point time corresponding to each two adjacent measuring coordinates according to a synchronous positioning and mapping algorithm, wherein the SLAM measuring route comprises the following steps:
acquiring a first measured coordinate (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn)；
According to the synchronous positioning and mapping algorithm, the first measuring time T is obtained in sequence1When it is a starting pointAt a second measuring time T2First SLAM measurement route (DeltaX) for endpoint time measurement1，ΔY1) Obtaining a second measuring time T2And a third measurement time T3Second SLAM measurement route (Δ X) of measurement therebetween2，ΔY2) … …, obtaining the nth measuring time TnAnd (n +1) th measurement time T(n+1)The nth SLAM measurement route (. DELTA.X) measured therebetweenn，ΔYn)。
The SLAM-based composite positioning method comprises the following steps of correcting each measured coordinate according to each section of SLAM measured route to obtain a corrected motion track:
the first measurement time T1The corresponding first revised coordinate is maintained as the first measured coordinate (X)1，Y1)；
The second measurement time T2The corresponding measured coordinate is revised to a second revised coordinate (X)2’,Y2’)＝([X1+ΔX1+X2]/2，[Y1+ΔY1+Y2]/2), the third measurement time T3The corresponding measured coordinate is revised to a third revised coordinate (X)3’,Y3’)＝([X2+ΔX2+X3]/2，[Y2+ΔY2+Y3]/2), … …, measuring the nth measuring time TnThe corresponding measured coordinate is revised to the n-th revised coordinate (X)n’,Yn’)＝([Xn-1+ΔXn-1+Xn]/2，[Yn-1+ΔYn-1+Yn]/2)；
The first measured coordinate (X)1，Y1) Second revised coordinate (X)2’,Y2'), the third revised coordinate (X)3’,Y3'), … …, n-th revised coordinate (X)n’,Yn') are sequentially connected to obtain the motion track after correction.
The SLAM-based composite positioning method comprises the steps that the positioning module is a GPS positioning module, a Wi-Fi module or an LBS positioning module.
A SLAM-based composite positioning device, wherein the SLAM-based composite positioning device comprises a processor, a memory, and a communication bus;
the communication bus is used for realizing connection communication between the processor and the memory;
the processor is configured to execute a SLAM-based composite location program stored in the memory to implement the steps of:
sequentially acquiring the measured coordinates measured by the positioning module according to the time sequence;
according to the synchronous positioning and mapping algorithm, measuring an SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates; wherein SLAM is a synchronous positioning and mapping algorithm;
and correcting each measured coordinate according to each section of SLAM measured route to obtain a corrected motion track.
In the step of sequentially acquiring the measurement coordinates measured by the positioning module in time sequence, the plurality of measurement coordinates sequentially acquired by the positioning module in time sequence are sequentially recorded as first measurement coordinates (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn) (ii) a Wherein the first measured coordinate (X)1，Y1) The corresponding measurement time is denoted as a first measurement time T1Second determination of coordinates (X)2，Y2) The corresponding measurement time is denoted as a second measurement time T2… …, n-th determination of coordinates (X)n，Yn) The corresponding measurement time is denoted as a first measurement time Tn(ii) a Wherein n is a positive integer.
The SLAM-based composite positioning device, wherein the step of measuring the SLAM measurement route between the start point time and the end point time corresponding to each two adjacent measurement coordinates according to the synchronous positioning and mapping algorithm, comprises:
acquiring a first measured coordinate (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn)；
According to the synchronous positioning and mapping algorithm, the first measuring time T is obtained in sequence1As starting time, at a second measurement time T2First SLAM measurement route (DeltaX) for endpoint time measurement1，ΔY1) Obtaining a second measuring time T2And a third measurement time T3Second SLAM measurement route (Δ X) of measurement therebetween2，ΔY2) … …, obtaining the nth measuring time TnAnd (n +1) th measurement time T(n+1)The nth SLAM measurement route (. DELTA.X) measured therebetweenn，ΔYn)。
The SLAM-based composite positioning device, wherein the step of correcting each measurement coordinate according to each SLAM measurement route to obtain a corrected motion trajectory, comprises:
the first measurement time T1The corresponding first revised coordinate is maintained as the first measured coordinate (X)1，Y1)；
The second measurement time T2The corresponding measured coordinate is revised to a second revised coordinate (X)2’,Y2’)＝([X1+ΔX1+X2]/2，[Y1+ΔY1+Y2]/2), the third measurement time T3The corresponding measured coordinate is revised to a third revised coordinate (X)3’,Y3’)＝([X2+ΔX2+X3]/2，[Y2+ΔY2+Y3]/2), … …, measuring the nth measuring time TnThe corresponding measured coordinate is revised to the n-th revised coordinate (X)n’,Yn’)＝([Xn-1+ΔXn-1+Xn]/2，[Yn-1+ΔYn-1+Yn]/2)；
The first measured coordinate (X)1，Y1) Second revised coordinate (X)2’,Y2'), the third revised coordinate (X)3’,Y3'), … …, n-th revised coordinate (X)n’,Yn') are sequentially connected to obtain the motion track after correction.
A storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the steps of the SLAM composite positioning method.
The invention provides a composite positioning method, a device and a storage medium based on SLAM, wherein the method comprises the following steps: sequentially acquiring the measured coordinates measured by the positioning module according to the time sequence; according to the synchronous positioning and mapping algorithm, measuring an SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates; wherein SLAM is a synchronous positioning and mapping algorithm; and correcting each measured coordinate according to each section of SLAM measured route to obtain a corrected motion track. The invention can correct the current positioning error to be within the error range of centimeter level and accurately record the complete motion track of the mobile equipment.
Drawings
Fig. 1 is a flowchart of a preferred embodiment of a SLAM-based composite positioning method according to the present invention.
Fig. 2 is a flowchart of step S200 in the SLAM-based composite positioning method according to the present invention.
Fig. 3 is a flowchart of step S300 in the SLAM-based composite positioning method according to the present invention.
Detailed Description
The present invention provides a composite positioning method, device and storage medium based on SLAM, and in order to make the purpose, technical scheme and effect of the present invention clearer and clearer, the present invention will be further described in detail below by referring to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Please refer to fig. 1, which is a flowchart illustrating a composite location method based on SLAM according to a preferred embodiment of the present invention. As shown in fig. 1, the SLAM-based composite positioning method includes the following steps:
s100, sequentially acquiring measurement coordinates measured by a positioning module according to time sequence;
s200, according to a synchronous positioning and mapping algorithm, measuring an SLAM measuring route between a starting point time and an end point time corresponding to each two adjacent measuring coordinates; wherein SLAM is a synchronous positioning and mapping algorithm;
and step S300, correcting each measured coordinate according to each section of SLAM measuring route to obtain a corrected motion track.
In this embodiment, the positioning module is a GPS positioning module, a Wi-Fi module, or an LBS positioning module.
The Wi-Fi positioning technology is characterized in that a database of positions of Wi-Fi hotspot transmitting signals is established, the mobile device detects the strength of the Wi-Fi hotspot transmitting signals to judge the distance between the mobile device and the Wi-Fi hotspot transmitting signals, and finally the position of the mobile device is calculated.
The base station positioning means that the mobile device measures downlink pilot signals of different base stations to obtain arrival times or arrival time differences of downlink pilot signals of different base stations, and the position of the mobile device can be calculated according to the measurement result and coordinates of the base stations by generally adopting a trigonometric formula estimation algorithm.
The GPS positioning is to position the transmitter within the range of 10-50 meters by taking the signal transmitting terminal as the center of a circle. After the signal transmitter leaves the current GPS range, positioning will continue in another GPS coverage area.
Through the three common positioning modes, a plurality of positioning measurement points can be sequentially obtained according to the actual movement of the mobile equipment and the time sequence. However, it is a drawback to directly locate the measurement point by the above-mentioned method to achieve the accurate positioning and motion trajectory acquisition of the mobile device. Therefore, the precise positioning can be realized only by correcting the positioning measurement point and the motion trail.
The SLAM (synchronous positioning and mapping technology) based on computer vision, which is widely used in AR (Augmented Reality technology), can calculate the data of the mobile device moving horizontally and vertically in space to a centimeter or higher level of accuracy, but can only give the motion trajectory data of the mobile device, not the actual absolute geographical position.
Therefore, in the present application, the existing positioning method is combined with SLAM (synchronous positioning and mapping technology), and the accurate position and the motion trajectory of the mobile device can be calculated through calculation.
Specifically, in step S100, a plurality of measurement coordinates sequentially obtained by the positioning module in time sequence are sequentially recorded as a first measurement coordinate (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn) (ii) a Wherein the first measured coordinate (X)1，Y1) The corresponding measurement time is denoted as a first measurement time T1Second determination of coordinates (X)2，Y2) The corresponding measurement time is denoted as a second measurement time T2… …, n-th determination of coordinates (X)n，Yn) The corresponding measurement time is denoted as a first measurement time Tn(ii) a Wherein n is a positive integer.
Specifically, as shown in fig. 2, the step S200 includes:
step S201, acquiring a first measurement coordinate (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn)；
Step S202, according to the synchronous positioning and mapping algorithm, the first measuring time T is obtained in sequence1As starting time, at a second measurement time T2First SLAM measurement route (DeltaX) for endpoint time measurement1，ΔY1) Obtaining a second measuring time T2And a third measurement time T3Second SLAM measurement route (Δ X) of measurement therebetween2，ΔY2) … …, obtaining the nth measuring time TnAnd (n +1) th measurement time T(n+1)The nth SLAM measurement route (. DELTA.X) measured therebetweenn，ΔYn)
The synchronous positioning and mapping algorithm adopted in step S202 is an extended kalman filter method or an unscented kalman filter method.
Specifically, as shown in fig. 3, the step S300 includes:
step S301 of setting the first measurement time T1The corresponding first revised coordinate is maintained as the first measureFixed coordinate (X)1，Y1)；
Step S302, setting the second measuring time T2The corresponding measured coordinate is revised to a second revised coordinate (X)2’,Y2’)＝([X1+ΔX1+X2]/2，[Y1+ΔY1+Y2]/2), the third measurement time T3The corresponding measured coordinate is revised to a third revised coordinate (X)3’,Y3’)＝([X2+ΔX2+X3]/2，[Y2+ΔY2+Y3]/2), … …, measuring the nth measuring time TnThe corresponding measured coordinate is revised to the n-th revised coordinate (X)n’,Yn’)＝([Xn-1+ΔXn-1+Xn]/2，[Yn-1+ΔYn-1+Yn]/2)；
Step S303, measuring the first measured coordinate (X)1，Y1) Second revised coordinate (X)2’,Y2'), the third revised coordinate (X)3’,Y3'), … …, n-th revised coordinate (X)n’,Yn') are sequentially connected to obtain the motion track after correction.
That is, in the present application, the accurate motion trajectory is finally obtained through continuous revising in steps S301 to S303.
Based on the SLAM-based composite positioning method, the invention also provides a SLAM-based composite positioning device. The SLAM-based composite location apparatus comprises a processor, a memory, and a communication bus;
the communication bus is used for realizing connection communication between the processor and the memory;
the processor is configured to execute a SLAM-based composite location program stored in the memory to implement the steps of:
sequentially acquiring the measured coordinates measured by the positioning module according to the time sequence;
according to the synchronous positioning and mapping algorithm, measuring an SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates; wherein SLAM is a synchronous positioning and mapping algorithm;
and correcting each measured coordinate according to each section of SLAM measured route to obtain a corrected motion track.
Preferably, in the SLAM-based composite positioning device, in the step of sequentially acquiring measurement coordinates measured by the positioning module in chronological order, a plurality of measurement coordinates sequentially acquired by the positioning module in chronological order are sequentially recorded as first measurement coordinates (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn) (ii) a Wherein the first measured coordinate (X)1，Y1) The corresponding measurement time is denoted as a first measurement time T1Second determination of coordinates (X)2，Y2) The corresponding measurement time is denoted as a second measurement time T2… …, n-th determination of coordinates (X)n，Yn) The corresponding measurement time is denoted as a first measurement time Tn(ii) a Wherein n is a positive integer.
Preferably, in the SLAM-based composite positioning device, the step of measuring the SLAM measurement route between the start point time and the end point time corresponding to each of two adjacent measurement coordinates by using the synchronous positioning and mapping algorithm includes:
acquiring a first measured coordinate (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn)；
According to the synchronous positioning and mapping algorithm, the first measuring time T is obtained in sequence1As starting time, at a second measurement time T2First SLAM measurement route (DeltaX) for endpoint time measurement1，ΔY1) Obtaining a second measuring time T2And a third measurement time T3Second SLAM measurement route (Δ X) of measurement therebetween2，ΔY2) … …, obtaining the nth measuring time TnAnd (n +1) th measurement time T(n+1)The nth SLAM measurement route (. DELTA.X) measured therebetweenn，ΔYn)。
Preferably, in the SLAM-based composite positioning apparatus, the step of correcting each measurement coordinate according to each SLAM measurement route to obtain a corrected motion trajectory includes:
the first measurement time T1The corresponding first revised coordinate is maintained as the first measured coordinate (X)1，Y1)；
The second measurement time T2The corresponding measured coordinate is revised to a second revised coordinate (X)2’,Y2’)＝([X1+ΔX1+X2]/2，[Y1+ΔY1+Y2]/2), the third measurement time T3The corresponding measured coordinate is revised to a third revised coordinate (X)3’,Y3’)＝([X2+ΔX2+X3]/2，[Y2+ΔY2+Y3]/2), … …, measuring the nth measuring time TnThe corresponding measured coordinate is revised to the n-th revised coordinate (X)n’,Yn’)＝([Xn-1+ΔXn-1+Xn]/2，[Yn-1+ΔYn-1+Yn]/2)；
The first measured coordinate (X)1，Y1) Second revised coordinate (X)2’,Y2'), the third revised coordinate (X)3’,Y3'), … …, n-th revised coordinate (X)n’,Yn') are sequentially connected to obtain the motion track after correction.
Based on the SLAM-based composite positioning device, the invention also provides a storage medium. Wherein the storage medium stores one or more programs that are executable by one or more processors to implement the steps of the SLAM-based composite positioning method.
In summary, the composite positioning method, device and storage medium based on SLAM provided by the present invention includes: sequentially acquiring the measured coordinates measured by the positioning module according to the time sequence; according to the synchronous positioning and mapping algorithm, measuring an SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates; wherein SLAM is a synchronous positioning and mapping algorithm; and correcting each measured coordinate according to each section of SLAM measured route to obtain a corrected motion track. The invention can correct the current positioning error to be within the error range of centimeter level and accurately record the complete motion track of the mobile equipment.
It should be understood that the technical solutions and concepts of the present invention may be equally replaced or changed by those skilled in the art, and all such changes or substitutions should fall within the protection scope of the appended claims.
Claims (4)
1. A composite positioning method based on SLAM is characterized by comprising the following steps:
sequentially acquiring the measured coordinates measured by the positioning module according to the time sequence;
according to the synchronous positioning and mapping algorithm, measuring an SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates; wherein SLAM is a synchronous positioning and mapping algorithm;
correcting each measured coordinate according to each section of SLAM measuring route to obtain a corrected motion track;
in the step of sequentially acquiring the measurement coordinates measured by the positioning module in time sequence, a plurality of measurement coordinates sequentially acquired by the positioning module in time sequence are sequentially recorded as first measurement coordinates (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn) (ii) a Wherein the first measured coordinate (X)1，Y1) The corresponding measurement time is denoted as a first measurement time T1Second determination of coordinates (X)2，Y2) The corresponding measurement time is denoted as a second measurement time T2… …, n-th determination of coordinates (X)n，Yn) The corresponding measurement time is denoted as a first measurement time Tn(ii) a Wherein n is a positive integer;
the step of correcting each measured coordinate according to each section of SLAM measured route to obtain a corrected motion track comprises the following steps:
the first measurement time T1Corresponding first repairThe order coordinate is maintained as the first measured coordinate (X)1，Y1)；
The second measurement time T2The corresponding measured coordinate is revised to a second revised coordinate (X)2’,Y2’)＝([X1+ΔX1+X2]/2，[Y1+ΔY1+Y2]/2), the third measurement time T3The corresponding measured coordinate is revised to a third revised coordinate (X)3’,Y3’)＝([X2+ΔX2+X3]/2，[Y2+ΔY2+Y3]/2), … …, measuring the nth measuring time TnThe corresponding measured coordinate is revised to the n-th revised coordinate (X)n’,Yn’)＝([Xn-1+ΔXn-1+Xn]/2，[Yn-1+ΔYn-1+Yn]/2)；
The first measured coordinate (X)1，Y1) Second revised coordinate (X)2’,Y2'), the third revised coordinate (X)3’,Y3'), … …, n-th revised coordinate (X)n’,Yn') are sequentially connected to obtain a corrected motion track;
the step of measuring the SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates according to the synchronous positioning and mapping algorithm comprises the following steps:
acquiring a first measured coordinate (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn)；
According to the synchronous positioning and mapping algorithm, the first measuring time T is obtained in sequence1As starting time, at a second measurement time T2First SLAM measurement route (DeltaX) for endpoint time measurement1，ΔY1) Obtaining a second measuring time T2And a third measurement time T3Second SLAM measurement route (Δ X) of measurement therebetween2，ΔY2) … …, obtaining the nth measuring time TnAnd (n +1) th measurement time T(n+1)The nth SLAM measurement route (. DELTA.X) measured therebetweenn，ΔYn)。
2. The SLAM-based composite positioning method of claim 1, wherein the positioning module is a GPS positioning module, a Wi-Fi module, or an LBS positioning module.
3. A SLAM-based composite location apparatus, comprising a processor, a memory, and a communication bus;
the communication bus is used for realizing connection communication between the processor and the memory;
the processor is configured to execute a SLAM-based composite location program stored in the memory to implement the steps of:
sequentially acquiring the measured coordinates measured by the positioning module according to the time sequence;
according to the synchronous positioning and mapping algorithm, measuring an SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates; wherein SLAM is a synchronous positioning and mapping algorithm;
correcting each measured coordinate according to each section of SLAM measuring route to obtain a corrected motion track;
in the step of sequentially acquiring the measurement coordinates measured by the positioning module in time sequence, a plurality of measurement coordinates sequentially acquired by the positioning module in time sequence are sequentially recorded as first measurement coordinates (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn) (ii) a Wherein the first measured coordinate (X)1，Y1) The corresponding measurement time is denoted as a first measurement time T1Second determination of coordinates (X)2，Y2) The corresponding measurement time is denoted as a second measurement time T2… …, n-th determination of coordinates (X)n，Yn) The corresponding measurement time is denoted as a first measurement time Tn(ii) a Wherein n is a positive integer;
the step of correcting each measured coordinate according to each section of SLAM measured route to obtain a corrected motion track comprises the following steps:
the first measurement time T1The corresponding first revised coordinate is maintained as the first measured coordinate (X)1，Y1)；
The second measurement time T2The corresponding measured coordinate is revised to a second revised coordinate (X)2’,Y2’)＝([X1+ΔX1+X2]/2，[Y1+ΔY1+Y2]/2), the third measurement time T3The corresponding measured coordinate is revised to a third revised coordinate (X)3’,Y3’)＝([X2+ΔX2+X3]/2，[Y2+ΔY2+Y3]/2), … …, measuring the nth measuring time TnThe corresponding measured coordinate is revised to the n-th revised coordinate (X)n’,Yn’)＝([Xn-1+ΔXn-1+Xn]/2，[Yn-1+ΔYn-1+Yn]/2)；
The first measured coordinate (X)1，Y1) Second revised coordinate (X)2’,Y2'), the third revised coordinate (X)3’,Y3'), … …, n-th revised coordinate (X)n’,Yn') are sequentially connected to obtain a corrected motion track;
the step of measuring the SLAM measuring route between the starting point time and the end point time corresponding to each two adjacent measuring coordinates according to the synchronous positioning and mapping algorithm comprises the following steps:
acquiring a first measured coordinate (X)1，Y1) Second determination of coordinates (X)2，Y2) … …, n-th determination of coordinates (X)n，Yn)；
According to the synchronous positioning and mapping algorithm, the first measuring time T is obtained in sequence1As starting time, at a second measurement time T2First SLAM measurement route (DeltaX) for endpoint time measurement1，ΔY1) Obtaining a second measuring time T2And a third measurement time T3Second SLAM measurement route (Δ X) of measurement therebetween2，ΔY2) … …, obtaining the nth measuring time TnAnd (n +1) th measurement time T(n+1)The nth SLAM measurement route (. DELTA.X) measured therebetweenn，ΔYn)。
4. A storage medium storing one or more programs, the one or more programs being executable by one or more processors to perform the steps of the method for composite location of SLAM as claimed in any one of claims 1-2.
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